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Rolling motion estimation for mobile robot by using omnidirectional image sensor HyperOmniVision

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4 Author(s)
Yagi, Y. ; Fac. of Eng. Sci., Osaka Univ., Japan ; Nishii, W. ; Yamazawa, K. ; Yachida, M.

Described here is a method for estimating a rolling motion of a mobile robot from optical flows. We have proposed an image sensor with a hyperboloidal mirror for vision based navigation of the mobile robot. Its name is HyperOmniVision. This sensing system can acquire an omnidirectional view around the robot, in real-time, with use of the hyperboloidal mirror. The radial component of optical flow in HyperOmniVision has a periodic characteristic. The proposed method makes use of this characteristic to estimate robustly the rolling motion of the robot

Published in:

Pattern Recognition, 1996., Proceedings of the 13th International Conference on  (Volume:1 )

Date of Conference:

25-29 Aug 1996